#include <stdio.h>
#include <math.h>
#include <vector>
#include <fstream>
#include <sstream>
#include <iostream>
#include <iomanip>

#define EPSILON		0.000001f

#define TWO_PI		6.28318530f
#define PI			3.14159265f
#define HALF_PI		1.57079632f

#define MAX_DEPTH	10